There is provided a vehicle behavior control device capable of improving responsivity of a vehicle behavior and a linear feeling with respect to a steering wheel operation without causing a driver to experience a strong feeling of intervention of the control and, at the same time, capable of controlling behavior of a vehicle in such a manner as to also improve stability of the vehicle attitude and riding comfort. In a vehicle behavior control device applied to a vehicle having steerable front road wheels, the vehicle behavior control device includes a PCM which acquires a steering speed of the vehicle, and generates a deceleration jerk which is a rearward jerk in a longitudinal direction of the vehicle when the steering speed becomes equal to or greater than a given threshold TS1 which is greater than zero.
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1. A vehicle behavior control device applied to a vehicle having a steerable front road wheel, the vehicle behavior control device comprising:
a steering speed acquiring part configured to acquire a steering speed of the vehicle; and
a deceleration jerk generating part configured to generate a deceleration jerk which is a rearward jerk in a longitudinal direction of the vehicle, when the steering speed becomes equal to or greater than a given threshold which is greater than zero,
wherein, when the steering speed becomes equal to or greater than the threshold, the deceleration jerk generating part is configured to generate the deceleration jerk such that a peak of the deceleration jerk occurs before a peak of a jerk in a width direction of the vehicle.
2. The vehicle behavior control device according to
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The present invention relates to a vehicle behavior control device, and more particularly to a vehicle behavior control device for controlling behavior of a vehicle having steerable front road wheels.
Heretofore, there has been known a control system capable of, in a situation where behavior of a vehicle becomes unstable due to road wheel slip or the like, controlling the vehicle behavior to enable a safe traveling (e.g., an antiskid brake system). Specifically, there has been known a control system operable to detect the occurrence of vehicle understeer or oversteer behavior during vehicle cornering or the like, and apply an appropriate degree of deceleration to one or more road wheels so as to suppress such a behavior.
There has also been known a vehicle motion control device operable to automatically perform an acceleration or a deceleration associated with a steering wheel operation which is started from a usual driving region, to thereby reduce skid in a marginal driving region, differently from the above control for improving safety in a traveling condition causing the vehicle behavior to become unstable (see Patent Document 1, for example).
[Patent Document]
However, when the acceleration or the deceleration is automatically controlled in response to an instruction from a control device as in the case of the above-mentioned technique described in Patent Literature 1, the acceleration or the deceleration which does not necessarily agree with the intention of a driver is performed and hence, the driver may experience a strong feeling of intervention of the control. On the other hand, when control gain is reduced so as to suppress a feeling of intervention of the control, advantageous effects which can be acquired due to control of the acceleration or the deceleration are also reduced.
Further, the conventional technique described in Patent Literature 1 focuses on that a driver performing only a steering operation for turning is allowed to realize a vehicle motion similar to the vehicle motion of an expert driver. However, the conventional technique does not necessarily acquire improvement in responsivity of vehicle behavior and a linear feeling with respect to a standard steering wheel operation.
The present invention has been made to solve the above conventional problem, and an object thereof is to provide a vehicle behavior control device capable of improving responsivity of vehicle behavior and a linear feeling with respect to a steering wheel operation without causing a driver to experience a strong feeling of intervention of the control and, at the same time, capable of controlling behavior of a vehicle in such a manner as to also improve stability of the vehicle attitude and riding comfort.
In order to achieve the above object, a vehicle behavior control device applied to a vehicle having a steerable front road wheel, the vehicle behavior control device including: a steering speed acquiring part configured to acquire a steering speed of the vehicle; and a deceleration jerk generating part configured to generate a deceleration jerk which is a rearward jerk in a longitudinal direction of the vehicle, when the steering speed becomes equal to or greater than a given threshold which is greater than zero.
In the present invention having such a configuration, the deceleration jerk generating part generates, when the steering speed becomes equal to or greater than the threshold, a rearward deceleration jerk in the longitudinal direction of the vehicle and hence, after a driver starts a steering wheel operation, at a timing earlier than a deceleration jerk caused only by a drag force, a deceleration jerk can be generated substantially simultaneously with the generation of a lateral jerk. With such a configuration, at an initial stage of turning of the vehicle, the deceleration jerk is immediately generated according to the steering wheel operation so as to increase a deceleration thus increasing a vertical load on the front road wheel. Accordingly, it is possible to control behavior of the vehicle with good responsivity and a linear feeling with respect to the steering wheel operation performed by the driver and, at the same time, to control behavior of the vehicle such that the deceleration also rises following a rise of a lateral acceleration at the initial stage of turning so that the lateral acceleration and the deceleration vary while maintaining a linear relationship. Therefore, behavior of the vehicle can be controlled in such a manner as to also improve stability of the vehicle attitude and riding comfort.
In the present invention, it is preferable that the deceleration jerk generating part is configure to start to reduce a driving force of the vehicle when the steering speed becomes equal to or greater than the threshold, so as to generate the deceleration jerk.
In the present invention having such a configuration, after a driver starts a steering wheel operation, a deceleration jerk can be generated with high responsivity. Accordingly, it is possible to control behavior of the vehicle with better responsivity with respect to the steering wheel operation performed by the driver and, at the same time, to control behavior of the vehicle in such a manner as to also further improve stability of the vehicle attitude and riding comfort.
In the present invention, it is preferable that, when the steering speed becomes equal to or greater than the threshold, the deceleration jerk generating part is configured to generate the deceleration jerk such that a peak of the deceleration jerk occurs before a peak of a jerk in a width direction of the vehicle.
In the present invention having such a configuration, at the initial stage of turning of the vehicle, the deceleration jerk is immediately generated according to the steering wheel operation so as to increase a deceleration thus increasing a vertical load on the front road wheels. Accordingly, it is possible to control behavior of the vehicle with better responsivity with respect to the steering wheel operation performed by a driver and, at the same time, to control behavior of the vehicle in such a manner as to also improve stability of the vehicle attitude and riding comfort.
According to the vehicle behavior control device according to the present invention, it is possible to improve responsivity of vehicle behavior and a linear feeling with respect to a steering wheel operation without causing a driver to experience a strong feeling of intervention of the control and, at the same time, to control behavior of a vehicle in such a manner as to also improve stability of the vehicle attitude and riding comfort.
With reference to the accompanying drawings, a vehicle behavior control device according to an embodiment of the present invention will now be described.
First of all, with reference to
In
The vehicle 1 has: a steering wheel angle sensor 8 for detecting a rotational angle of a steering wheel 6; an accelerator position sensor 10 for detecting an amount of depression of an accelerator pedal (accelerator position); and a vehicle speed sensor 12 for detecting a vehicle speed. Each of the above sensors is operable to output a detection value to a PCM (Power-train Control Module) 14.
Subsequently, with reference to
The PCM 14 according to the embodiment of the present invention is configured to, based on detection signals output from various sensors for detecting an operating state of the engine 4 besides detection signals output from the above sensors 8 to 12, output control signals to perform controls with respect to respective constitutional elements (e.g., a throttle valve, a turbocharger, a variable valve mechanism, an ignition unit, a fuel injection valve, and an EGR unit) of the engine 4.
The PCM 14 includes: a basic target torque-deciding part 16 for deciding a basic target torque based on a driving state of the vehicle 1 including an accelerator pedal operation; a torque reduction amount-deciding part 18 for deciding a torque reduction amount for adding a deceleration to the vehicle 1 based on a quantity relating to a jerk in the vehicle width direction of the vehicle 1 (lateral jerk-related quantity); a final target torque-deciding part 20 for deciding a final target torque based on the basic target torque and the torque reduction amount; and an engine control part 22 for controlling the engine 4 to cause the engine 4 to output the final target torque. This embodiment will be described based on an example where the torque reduction amount-deciding part 18 uses a steering speed of the vehicle 1 as the lateral jerk-related quantity.
Respective components of the PCM 14 are functionally realized by a computer which includes: a CPU; various programs (including a basic control program such as an OS, and an application program capable of being activated on the OS to realize a specific function) to be interpreted and executed on the CPU; and an internal memory such as a ROM or a RAM for storing the programs and various data.
A PCM 14 is equivalent to “vehicle behavior control device” according to the present invention, and functions as “steering speed acquiring part” and “deceleration jerk generating part”, although details thereof will be described later.
Subsequently, with reference to
The engine control processing in
As depicted in
Subsequently, in step S2, the basic target torque-deciding part 16 of the PCM 14 operates to set a target acceleration based on the driving state of the vehicle 1 including the accelerator pedal operation, acquired in step S1. Specifically, the basic target torque-deciding part 16 operates to select, from acceleration characteristic maps in which various vehicle speeds and various gear stages are defined (the maps are preliminarily created and stored in a memory or the like), an acceleration characteristic map which corresponds to a current vehicle speed and a current gear stage, and decide a target acceleration corresponding to a current accelerator position, with reference to the selected acceleration characteristic map.
Subsequently, in step S3, the basic target torque-deciding part 16 operates to decide the basic target torque of the engine 4 for realizing the target acceleration decided in step S2. In this embodiment, the basic target torque-deciding part 16 operates to decide the basic target torque within a torque range outputtable by the engine 4, based on current vehicle speed, gear stage, road grade, road surface μ, etc.
In parallel to the processing in steps S2 and S3, in step S4, the torque reduction amount-deciding part 18 operates to perform the torque reduction amount-deciding processing of deciding the torque reduction amount for adding a deceleration to the vehicle 1, based on a steering wheel operation. This torque reduction amount-deciding processing will be described with reference to
As depicted in
Subsequently, in step S22, the torque reduction amount-deciding part 18 operates to determine whether or not the steering speed is greater than a given threshold TS1.
As a result, when the steering speed is greater than the threshold TS1, the processing advances to step S23. In step S23, the torque reduction amount-deciding part 18 operates to set the torque reduction flag, indicative of whether or not a condition for allowing reduction of an output torque of the engine 4 so as to add a deceleration to the vehicle 1 is satisfied, to True (true value) indicative of a state in which the condition for allowing the torque reduction is satisfied.
Subsequently, in step S24, the torque reduction amount-deciding part 18 operates to acquire the target additional deceleration based on the steering speed. This target additional deceleration is a deceleration to be added to the vehicle 1 according to the steering wheel operation in order to accurately realize vehicle behavior which is intended by a driver.
Specifically, the torque reduction amount-deciding part 18 operates to acquire a target additional deceleration which corresponds to the steering speed calculated in step S21, based on a relationship between the target additional deceleration and the steering speed, represented by the map in
In
On the other hand, when the steering speed is greater than the threshold TS1, as the steering speed is increased to a higher value, a target additional deceleration which corresponds to the steering speed comes closer to a given upper limit value Dmax. That is, as the steering speed is increased to a higher value, the target additional deceleration is increased, and a rate of increase of the target additional deceleration becomes smaller. This upper limit value Dmax is set to a deceleration (e.g., 0.5 m/s2≅0.05 G) to the extent that a driver does not feel intervention of the control even when the deceleration is added to the vehicle 1 according to the steering wheel operation.
Further, when the steering speed is equal to or greater than a threshold TS2 which is greater than the threshold TS1, the target additional deceleration is maintained at the upper limit value Dmax.
Subsequently, in step S25, the torque reduction amount-deciding part 18 operates to decide an additional deceleration in the current processing, under a condition that a change rate of the additional deceleration is equal to or less than a threshold Rmax (e.g., 0.5 m/s3).
Specifically, the torque reduction amount-deciding part 18 operates to, when a change rate from the additional deceleration decided in the last processing to the target additional deceleration acquired in step S24 in the current processing is equal to or less than the threshold Rmax, decide the target additional deceleration acquired in step S24, as the additional deceleration in the current processing.
On the other hand, the torque reduction amount-deciding part 18 operates to, when the change rate from the additional deceleration decided in the last processing to the target additional deceleration acquired in step S24 in the current processing is greater than the threshold Rmax, decide, as the additional deceleration in the current processing, a value obtained by changing the additional deceleration decided in the last processing until the current processing at the change rate Rmax.
Subsequently, in step S26, the torque reduction amount-deciding part 18 operates to decide the torque reduction amount, based on the current additional deceleration decided in step S25. Specifically, the torque reduction amount-deciding part 18 operates to decide a torque reduction amount required for realizing the current additional deceleration, based on the current vehicle speed, gear stage, road gradient and others acquired in step S1.
On the other hand, in step S22, when the steering speed is not greater than the threshold TS1, (i.e., when the steering speed is equal to or lower than the threshold TS1), the processing advances to step S27. In step S27, the torque reduction amount-deciding part 18 operates to set the torque reduction flag, indicative of whether or not the condition for allowing reduction of the output torque of the engine 4 so as to add a deceleration to the vehicle 1 is satisfied, to False (false value) indicative of a state in which the condition for allowing the torque reduction is not satisfied.
After completion of step S26 or S27, the torque reduction amount-deciding part 18 operates to finish the torque reduction amount-deciding processing, and the processing returns to the main routine.
Returning to
Subsequently, in step S6, the engine control part 22 operates to control the engine 4 to cause the engine 4 to output the final target torque set in step S5. Specifically, the engine control part 22 operates to, based on the final target torque set in step S5 and an engine speed, decide various state amounts (e.g., air charge amount, fuel injection amount, intake-air temperature, and oxygen concentration) required for realizing the final target torque, and then, based on the decided state amounts, control respective actuators for driving the respective constitutional elements of the engine 4. In this case, the engine control part 22 operates to set a limit value or a limit range corresponding to the state amount, and set a controlled variable of each actuator to enable its related state amount to preserve limitation by the limit value or the limit range, so as to execute control.
After completion of step S6, the PCM 14 operates to finish the engine control processing.
Next, with reference to
The chart (a) of
The chart (b) of
As depicted in the chart (b) of
The chart (c) of
The steering speed of the vehicle 1 is expressed as a temporal differentiation of the steering wheel angle of the vehicle 1. That is, as depicted in the chart (c) of
The chart (d) of
As depicted in the chart (d) of
The chart (e) of
As described with reference to
As depicted in the chart (e) of
The chart (f) of
As mentioned above, the torque reduction amount-deciding part 18 operates to decide the torque reduction amount required for realizing an additional deceleration, based on parameters such as the current vehicle speed, gear stage and road grade. Thus, in the case where these parameters are constant, the torque reduction amount is decided so as to change in the same pattern as that of the additional deceleration depicted in the chart (e) of
The chart (g) of
As described with reference to
That is, as depicted in the chart (g) of
Subsequently, a change in longitudinal acceleration and lateral acceleration generated in a vehicle due to a control performed by the vehicle behavior control device according to the embodiment of the present invention will be described with reference to
Further, in
As indicated by the one-dot chain line in
On the other hand, as indicated by the solid line in
Particularly, as depicted in
Subsequently, vehicle behavior when the vehicle equipped with the vehicle behavior control device according to the embodiment of the present invention is caused to perform turning traveling will be described with reference to
To evaluate the manner of change in vehicle behavior when an output torque of the engine 4 is reduced in accordance with a lateral jerk which is generated with steering input at the initial stage of turning, inventors of the present invention caused the vehicle equipped with the vehicle behavior control device according to the above embodiment to travel a single corner where the vehicle transitions from straight traveling to regular circle turning at a constant vehicle speed. The inventors measured various parameters pertaining to vehicle behavior over this period.
An increase in slip angle of the front road wheels along with an increase in steering wheel angle generates a cornering force due to a frictional force between a road surface and a ground contact surface of the front road wheels. Due to such generation of cornering force, a lateral jerk is generated substantially simultaneously with the start of an increase in steering wheel angle as depicted in charts (a) and (b) of
As depicted in the chart (c) of
When a slip angle of the front road wheels 2 is increased, a drag force is also generated due to a frictional force between the road surface and the ground contact surface of the front road wheels. Due to a compliance element of a suspension or the like, a slight delay is present between the generation of the drag force and the generation of deceleration in the vehicle due to such a drag force. Accordingly, in the vehicle which is not equipped with the vehicle behavior control device of this embodiment, as indicated by the broken line in the chart (e) of
On the other hand, in the vehicle equipped with the vehicle behavior control device of this embodiment, drive torque reduction is started immediately after a steering speed becomes equal to or greater than the threshold TS1 so that the torque reduction flag is set to True. Accordingly, as indicated by the solid line in the chart (e) of
As mentioned above, in the vehicle which is not equipped with the vehicle behavior control device of this embodiment, when a steering wheel angle starts to increase, a deceleration jerk is generated at a later time than a lateral jerk. Accordingly, as indicated by the broken line in
On the other hand, in the vehicle equipped with the vehicle behavior control device of this embodiment, a reduction of driving force of the vehicle is started when the steering speed becomes equal to or greater than the threshold TS1. Accordingly, at a timing earlier than a deceleration jerk caused only by a drag force, a deceleration jerk is generated substantially simultaneously with the generation of a lateral jerk thus allowing the peak of the deceleration jerk to appear at a time earlier than the peak of the lateral jerk. Therefore, as indicated by the solid line in
As mentioned above, in the vehicle which is not equipped with the vehicle behavior control device of this embodiment, when a steering wheel angle starts to increase, a deceleration jerk is generated at a later time than a lateral jerk so that a deceleration does not increase on the rise of a lateral acceleration. Accordingly, as indicated by the broken line in
On the other hand, in the vehicle equipped with the vehicle behavior control device of this embodiment, a reduction of driving force of the vehicle is started when the steering speed becomes equal to or greater than the threshold TS1. Accordingly, a deceleration jerk is generated substantially simultaneously with the generation of a lateral jerk so that a deceleration is also caused to rise following the rise of a lateral acceleration. Therefore, a pitch angle is increased in the direction that the front portion of the vehicle dips in synchronization with an increase in roll angle.
As mentioned above, in the vehicle which is not equipped with the vehicle behavior control device of this embodiment, a load shift occurs in the vehicle width direction of the vehicle in accordance with an increase in lateral acceleration thus increasing a roll angle. However, a pitch angle increases or decreases irrespective of an increase in roll angle. Accordingly, at the initial stage of turning, only a roll angle increases so that the parallel roll attitude as depicted in
On the other hand, in the vehicle equipped with the vehicle behavior control device of this embodiment, a reduction of driving force of the vehicle is started when the steering speed becomes equal to or greater than the threshold TS1 so that a pitch angle is increased in a direction that the front portion of the vehicle dips in synchronization with an increase in roll angle. Accordingly, at the initial stage of turning, rolling and pitching in which the front portion of the vehicle dips occur in synchronization with each other and hence, the diagonal roll attitude as depicted in
As described above, in the vehicle behavior control device according to the present invention, a driving force reduction amount is promptly increased in a region at the initial stage of turning where the lateral acceleration is extremely small so that a situation in which the vehicle attitude may smoothly shift to a diagonal roll attitude is created when a driver starts a steering wheel operation. Such a configuration causes the cornering force of the front road wheels to increase thus improving responsivity of turning behavior and, at the same time, allows a driver to precisely recognize the generation and continuation of the turning behavior from that point.
As mentioned above, in the vehicle which is not equipped with the vehicle behavior control device of this embodiment, when steering wheel angle starts to increase, a deceleration does not increase on the rise of a lateral acceleration and hence, as indicated by the broken line in
On the other hand, in the vehicle equipped with the vehicle behavior control device of this embodiment, a reduction of driving force of the vehicle is started when the steering speed becomes equal to or greater than the threshold TS1. Accordingly, deceleration also rises following the rise of the lateral acceleration so that the lateral acceleration and the deceleration vary while maintaining a linear relationship. Therefore, as indicated by the solid line in
Subsequently, another modification of the embodiment of the present invention will be described.
The above embodiment has been described based on an example where a torque reduction amount-deciding part 18 operates to acquire the target additional deceleration based on the steering speed, and decide the torque reduction amount based on the target additional deceleration. However, the torque reduction amount-deciding part 18 may operate to decide the torque reduction amount based on any driving state of the vehicle 1 other than the accelerator pedal operation (e.g., steering wheel angle, lateral acceleration, yaw rate, slip ratio or the like).
For example, the torque reduction amount-deciding part 18 may operate to acquire a target additional deceleration based on a lateral acceleration input from an acceleration sensor or a lateral jerk obtained by time-differentiating a lateral acceleration, and decide a torque reduction amount.
The above embodiment has been described based on an example where the PCM 14 reduces an output torque of the engine 4 in accordance with the target additional deceleration thus generating a rearward deceleration jerk in the longitudinal direction in the vehicle 1 so that a pitch angle is increased in a direction that the front portion of the vehicle dips and, at the same time, a vertical load on the front road wheels is increased. However, the configuration may be adopted where a deceleration jerk is generated by an active engine mount which supports the engine 4 in a vertically movable manner or by an active suspension which can control operation and characteristics of the suspension, and a pitch angle is increased in a direction that the front portion of the vehicle dips and, at the same time, a vertical load on the front road wheels is increased.
The above embodiment has been described based on an example where the vehicle 1 equipped with the vehicle behavior control device mounts the engine 4 for driving drive road wheels. However, the vehicle behavior control device of the present invention is also applicable to a vehicle which mounts a motor for driving drive road wheels by electricity supplied from a battery or capacitor. In this case, a PCM 14 is configured to perform control of reducing a torque of the motor according to a steering speed of the vehicle 1.
Subsequently, advantageous effects of the vehicle behavior control devices of the above embodiment of the present invention and the modification of the embodiment of the present invention will be described.
First of all, the PCM 14 starts to reduce an output torque of the engine 4 based on a lateral jerk-related quantity when the torque reduction flag is set to True, indicative of a state in which the condition for allowing reduction of an output torque of the engine 4 is satisfied. Accordingly, immediately after a lateral jerk is generated in the vehicle 1, the output torque of the engine 4 is reduced so as to increase a vertical load on the front road wheels and hence, it is possible to control behavior of the vehicle 1 with good responsivity with respect to a steering wheel operation performed by driver. Therefore, it is possible to improve responsivity of vehicle behavior and a linear feeling with respect to the steering wheel operation without causing the driver to experience a strong feeling of intervention of the control. Further, behavior which is intended by the driver is accurately realized and hence, extremely small correction steering becomes unnecessary thus also improving stability of the vehicle attitude and riding comfort.
Further, the PCM 14 sets, when a lateral jerk-related quantity exceeds a given threshold, the torque reduction flag to True. Accordingly, when the lateral jerk-related quantity is equal to or lower than the threshold, it is possible to suppress the excessive reaction of the vehicle 1 with respect to an extremely small steering wheel operation. Therefore, it is possible to control behavior of a vehicle in such a manner as to accurately realize a behavior which is intended by the driver without causing the driver to feel discomfort with respect to vehicle behavior during straight traveling.
The lateral jerk-related quantity is a steering speed of the vehicle 1 and hence, a driving force can be immediately reduced in response to the start of a steering wheel operation performed by a driver. Therefore, it is possible to control behavior of the vehicle 1 with better responsivity with respect to the steering wheel operation performed by the driver.
The PCM 14 generates, when the steering speed becomes equal to or greater than the threshold TS1, a rearward deceleration jerk in the longitudinal direction of the vehicle 1 is generated and hence, after the driver starts the steering wheel operation, at a timing earlier than a deceleration jerk caused only by a drag force, a deceleration jerk can be generated substantially simultaneously with the generation of a lateral jerk. With such a configuration, at the initial stage of turning of the vehicle 1, the deceleration jerk is immediately generated according to the steering wheel operation so as to increase a deceleration thus increasing a vertical load on the front road wheels 2. Accordingly, it is possible to control behavior of the vehicle 1 with good responsivity and a linear feeling with respect to the steering wheel operation performed by the driver and, at the same time, to control behavior of the vehicle 1 such that the deceleration also rises following the rise of a lateral acceleration at the initial stage of turning so that the lateral acceleration and the deceleration vary while maintaining a linear relationship. Therefore, behavior of the vehicle 1 can be controlled in such a manner as to also improve stability of the vehicle attitude and riding comfort.
The PCM 14 starts, when the steering speed becomes equal to or greater than the threshold TS1, to reduce an output torque of the engine 4 thus generating the deceleration jerk and hence, after the driver starts the steering wheel operation, the deceleration jerk can be generated with high responsivity. Accordingly, it is possible to control behavior of the vehicle 1 with better responsivity with respect to the steering wheel operation performed by the driver and, at the same time, to control behavior of the vehicle 1 in such a manner as to also further improve stability of the vehicle attitude and riding comfort.
The PCM 14 generates, when the steering speed becomes equal to or greater than the threshold TS1, a deceleration jerk such that the peak of the deceleration jerk appears at a time earlier than the peak of a lateral jerk and hence, at the initial stage of turning of the vehicle 1, the deceleration jerk is immediately generated according to the steering wheel operation so as to increase a deceleration thus increasing a vertical load on the front road wheels 2. Accordingly, it is possible to control behavior of the vehicle 1 with better responsivity with respect to the steering wheel operation performed by a driver and, at the same time, to control behavior of the vehicle 1 in such a manner as to also improve stability of the vehicle attitude and riding comfort.
The PCM 14 increases, when the steering speed becomes equal to or greater than the threshold TS1, a pitch angle in a direction that the front portion of the vehicle 1 dips and hence, after the driver starts the steering wheel operation, pitching in which the front portion of the vehicle 1 dips can be caused to occur when rolling occurs. With such a configuration, at the initial stage of turning of the vehicle 1, the diagonal roll attitude is assumed so that a cornering force of the front road wheels 2 is increased thus improving responsivity of turning behavior and, at the same time, allowing a driver to precisely recognize the generation and continuation of the turning behavior from that point. Accordingly, it is possible to control behavior of the vehicle 1 with good responsivity and a linear feeling with respect to the steering wheel operation performed by the driver and, at the same time, to control behavior of the vehicle 1 in such a manner as to also improve stability of the vehicle attitude and riding comfort.
The PCM 14 starts, when the steering speed becomes equal to or greater than the threshold TS1, to reduce an output torque of the engine 4 thus increasing a pitch angle in a direction that the front portion of the vehicle 1 dips. Accordingly, after the driver starts the steering wheel operation, a deceleration is generated in the vehicle 1 by reducing a driving force, so that a pitch angle can be increased with high responsivity. Therefore, it is possible to control behavior of the vehicle 1 with better responsivity with respect to the steering wheel operation performed by the driver and, at the same time, to control behavior of the vehicle 1 in such a manner as to also further improve stability of the vehicle attitude and riding comfort.
The PCM 14 increases, when the steering speed becomes equal to or greater than the threshold TS1, a pitch angle in a direction that the front portion of the vehicle 1 dips in synchronization with an increase in roll angle of the vehicle 1 and hence, the diagonal roll attitude can be reliably assumed at the initial stage of turning of the vehicle 1. Accordingly, it is possible to control behavior of the vehicle 1 with good responsivity with respect to the steering wheel operation performed by the driver and, at the same time, to control behavior of the vehicle 1 in such a manner as to also improve stability of the vehicle attitude and riding comfort.
The PCM 14 increases, when the steering speed becomes equal to or greater than the threshold TS1, a vertical load on the front road wheels 2 and hence, after the driver starts the steering wheel operation, the vertical load on the front road wheels 2 can be increased when an amount of lateral load shift of the front road wheels 2 is increased in accordance with an increase in lateral acceleration. With such a configuration, at the initial stage of turning of the vehicle 1, the vertical load on the front road wheels 2 is increased so as to suppress a decrease in vertical load on the inner front road wheel which is caused by a lateral load shift so that a cornering force of the front road wheels 2 is increased thus improving responsivity of turning behavior. Therefore, it is possible to improve responsivity of vehicle behavior and a linear feeling with respect to the steering wheel operation without causing the driver to experience a strong feeling of intervention of the control. Further, behavior which is intended by the driver is accurately realized and hence, extremely small correction steering becomes unnecessary thus also improving stability of the vehicle attitude and riding comfort.
The PCM 14 starts, when the steering speed becomes equal to or greater than the threshold TS1, to reduce a driving force of the vehicle 1 thus increasing a vertical load on the front road wheels 2. Accordingly, after the driver starts the steering wheel operation, a deceleration is generated in the vehicle 1 by reducing a driving force, so that a vertical load on the front road wheels 2 can be increased with high responsivity. With such a configuration, at the initial stage of turning, the vertical load on the front road wheels 2 is promptly increased so as to suppress a decrease in vertical load on the inner front road wheel which is caused by lateral load shift so that a cornering force of the front road wheels is increased thus improving responsivity of turning behavior.
The PCM 14 causes, when the steering speed becomes equal to or greater than the threshold TS1, a vertical load on the front road wheels 2 to increase in synchronization with a lateral load shift of the front road wheels 2. Accordingly, at the initial stage of turning of the vehicle 1, a vertical load on the front road wheels 2 can be increased such that a decrease in vertical load on the inner front road wheel which is caused by lateral load shift is reliably suppressed. With such a configuration, a cornering force of the front road wheels 2 can be reliably increased and hence, responsivity of turning behavior can be improved.
Yoshioka, Toru, Umetsu, Daisuke, Chiba, Masaki, Sunahara, Osamu, Takahara, Yasunori
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